Classes
class	SlamFrameData

Functions
Dict[str, Any]	_create_ellipse_shape_dict (float cx, float cy, np.ndarray cov, float scale, str fillcolor, str line_color)

None	configure_figure_layout (go.Figure fig, int num_steps, float world_size, List[Dict[str, Any]] initial_shapes, Optional[Dict[str, Any]] initial_image)

Optional[go.Scatter]	create_current_pose_trace (Optional[gtsam.Pose2] current_pose)

str	create_ellipse_path_from_cov (float cx, float cy, np.ndarray cov_matrix, float scale=2.0, int N=60)

Optional[go.Scatter]	create_est_landmarks_trace (List[float] est_landmarks_x, List[float] est_landmarks_y)

go.Scatter	create_est_path_trace (List[float] est_path_x, List[float] est_path_y)

Optional[go.Scatter]	create_gt_landmarks_trace (Optional[np.ndarray] landmarks_gt)

Optional[go.Scatter]	create_gt_path_trace (Optional[List[gtsam.Pose2]] poses_gt)

Dict[str, Any]	create_landmark_ellipse_shape (np.ndarray lm_mean_xy, np.ndarray lm_cov, float scale)

Dict[str, Any]	create_pose_ellipse_shape (np.ndarray pose_mean_xy, np.ndarray pose_cov, float scale)

go.Figure	create_slam_animation (List[SlamFrameData] history, Callable[[int], int] X, Callable[[int], int] L, int max_landmark_index, Optional[np.ndarray] landmarks_gt_array=None, Optional[List[gtsam.Pose2]] poses_gt=None, float world_size=20.0, float ellipse_scale=2.0, str graphviz_engine="neato", bool verbose_cov_errors=False)

Optional[str]	dot_string_to_base64_svg (Optional[str] dot_string, str engine="neato")

Tuple[List[go.Scatter], List[Dict[str, Any]], Optional[Dict[str, Any]]]	generate_frame_content (SlamFrameData frame_data, Callable[[int], int] X, Callable[[int], int] L, int max_landmark_index, float ellipse_scale=2.0, str graphviz_engine="neato", bool verbose=False)

Function Documentation

◆ _create_ellipse_shape_dict()

Dict[str, Any] gtsam.examples.gtsam_plotly._create_ellipse_shape_dict	(	float	cx,
		float	cy,
		np.ndarray	cov,
		float	scale,
		str	fillcolor,
		str	line_color
	)

private

Helper: Creates dict for a Plotly ellipse shape from covariance.

Definition at line 139 of file gtsam_plotly.py.

◆ configure_figure_layout()

None gtsam.examples.gtsam_plotly.configure_figure_layout	(	go.Figure	fig,
		int	num_steps,
		float	world_size,
		List[Dict[str, Any]]	initial_shapes,
		Optional[Dict[str, Any]]	initial_image
	)

Configures Plotly figure layout for side-by-side display.

Definition at line 318 of file gtsam_plotly.py.

◆ create_current_pose_trace()

Optional[go.Scatter] gtsam.examples.gtsam_plotly.create_current_pose_trace ( Optional[gtsam.Pose2] current_pose )

Creates a single marker trace for the current estimated pose.

Definition at line 109 of file gtsam_plotly.py.

◆ create_ellipse_path_from_cov()

str gtsam.examples.gtsam_plotly.create_ellipse_path_from_cov	(	float	cx,
		float	cy,
		np.ndarray	cov_matrix,
		float	scale = `2.0`,
		int	N = `60`
	)

Generates SVG path string for an ellipse from 2x2 covariance.

Definition at line 28 of file gtsam_plotly.py.

◆ create_est_landmarks_trace()

Optional[go.Scatter] gtsam.examples.gtsam_plotly.create_est_landmarks_trace	(	List[float]	est_landmarks_x,
		List[float]	est_landmarks_y
	)

Creates trace for currently estimated landmarks.

Definition at line 124 of file gtsam_plotly.py.

◆ create_est_path_trace()

go.Scatter gtsam.examples.gtsam_plotly.create_est_path_trace	(	List[float]	est_path_x,
		List[float]	est_path_y
	)

Creates trace for the estimated path (all poses up to current).

Definition at line 95 of file gtsam_plotly.py.

◆ create_gt_landmarks_trace()

Optional[go.Scatter] gtsam.examples.gtsam_plotly.create_gt_landmarks_trace ( Optional[np.ndarray] landmarks_gt )

Creates scatter trace for ground truth landmarks.

Definition at line 67 of file gtsam_plotly.py.

◆ create_gt_path_trace()

Optional[go.Scatter] gtsam.examples.gtsam_plotly.create_gt_path_trace ( Optional[List[gtsam.Pose2]] poses_gt )

Creates line trace for ground truth path.

Definition at line 82 of file gtsam_plotly.py.

◆ create_landmark_ellipse_shape()

Dict[str, Any] gtsam.examples.gtsam_plotly.create_landmark_ellipse_shape	(	np.ndarray	lm_mean_xy,
		np.ndarray	lm_cov,
		float	scale
	)

Creates shape dict for a landmark covariance ellipse.

Definition at line 169 of file gtsam_plotly.py.

◆ create_pose_ellipse_shape()

Dict[str, Any] gtsam.examples.gtsam_plotly.create_pose_ellipse_shape	(	np.ndarray	pose_mean_xy,
		np.ndarray	pose_cov,
		float	scale
	)

Creates shape dict for a pose covariance ellipse.

Definition at line 155 of file gtsam_plotly.py.

◆ create_slam_animation()

go.Figure gtsam.examples.gtsam_plotly.create_slam_animation	(	List[SlamFrameData]	history,
		Callable[[int], int]	X,
		Callable[[int], int]	L,
		int	max_landmark_index,
		Optional[np.ndarray]	landmarks_gt_array = `None`,
		Optional[List[gtsam.Pose2]]	poses_gt = `None`,
		float	world_size = `20.0`,
		float	ellipse_scale = `2.0`,
		str	graphviz_engine = `"neato"`,
		bool	verbose_cov_errors = `False`
	)

Creates a side-by-side Plotly SLAM animation using a history of dataclasses.

Definition at line 425 of file gtsam_plotly.py.

◆ dot_string_to_base64_svg()

Optional[str] gtsam.examples.gtsam_plotly.dot_string_to_base64_svg	(	Optional[str]	dot_string,
		str	engine = `"neato"`
	)

Renders a DOT string to a base64 encoded SVG using graphviz.

Definition at line 183 of file gtsam_plotly.py.

◆ generate_frame_content()

Tuple[List[go.Scatter], List[Dict[str, Any]], Optional[Dict[str, Any]]] gtsam.examples.gtsam_plotly.generate_frame_content	(	SlamFrameData	frame_data,
		Callable[[int], int]	X,
		Callable[[int], int]	L,
		int	max_landmark_index,
		float	ellipse_scale = `2.0`,
		str	graphviz_engine = `"neato"`,
		bool	verbose = `False`
	)

Generates dynamic traces, shapes, and layout image for a single frame.

Definition at line 203 of file gtsam_plotly.py.

Classes

Functions